中文摘要：

对于欠驱动连杆机构，混沌的控制和反控制研究是避免或利用其混沌运动的关键问题。在欠驱动平面五杆机构中加装一个线性弹簧，改变了机构的受力状况，从而实现了对机构混沌运动的控制与反控制。以弹簧安装位置为参数的分叉图显示，不同的弹簧安装位置可以使机构呈现出混沌运动、周期运动等多种运动形式，弹簧的安装位置可以通过螺旋机构进行调节，这样就形成了一种简单、有效的机构混沌运动控制和反控制的方法。机构运动的相图和最大Lyapunov指数验证了方法的有效性。

英文摘要：

For the under-actuated linkage mechanism, techniques to control and anti-control chaos are the crucial problem for the prevention or utilization of chaos. In this paper, by adding a linear spring to an under-actuated pla- nar five-bar mechanism, the force applied to the mechanism was changed, therefore, the control and anti-control of chaotic motion of the mechanism was implemented. In the bifurcation diagram with the location of spring as the pa- rameter, it is indicated that the different locations of the spring lead to different motions of the mechanism, such as chaotic and periodic motions. A helical pair was used to adjust the location of the spring. In this way, a simple but efficient technique to control and anti-control chaos was created, which was proved by the phase diagram and the largest Lyapunov exponent.